Webots 機器人仿真平臺(九) 添加IMU傳感器

在webots中 InertialUnit 只對外提供pitch、roll、yaw三個角度，如需要加速度、陀螺儀和磁力計的數據還需要添加 Accelerometer、Gyro 和 Compass 組件。這幾個傳感器添加實體的方式基本相同，只有數據讀取的接口差別較大，其次要注意 InertialUnit 輸出的姿態角度（單位是 rad）Accelerometer 輸出的加速度值（單位是 m/s^2）、Gyro 輸出的是車體旋轉速度（單位是單位是 rad/s ）。

1. 添加姿態測量傳感器 InertialUnit

1.1添加 InertialUnit實體

step1: 在Robot中添加 InertialUnit（IMU傳感器）

step2: 設置這個InertialUnit傳感器的children中添加shape節點，並設置外觀和形狀。設置半徑 0.015 高度0.01 ，偏移量爲（x=0,y=0.02,z=0）



step3: 設置IMU傳感器的名稱（這個在控制器中會用到）

注意：添加IMU的過程中不設置boundingObject屬性和 physics屬性。

1.2 添加InertialUnit讀取代碼

初始化代碼段：

#include <webots/InertialUnit.hpp>  //頭文件

  InertialUnit *imu;
  imu== robot->getInertialUnit("imu");
  imu->enable(TIME_STEP);

IMU角度數據讀取代碼段：（單位是 弧度/rad）

    std::cout<< "IMU roll: " <<imu->getRollPitchYaw()[0]<< " pitch: " <<imu->getRollPitchYaw()[1]
    << " yaw: " <<imu->getRollPitchYaw()[2] <<std::endl;      

2 添加陀螺儀 Gyro

2.1 添加 Gyro 實體

添加陀螺儀 Gyro 實體的步驟與添加 InertialUnit 實體的操作方式一樣，只需要把 step1: 中選中Gyro 實體，後續的操作與 step2 和 step3 一樣。

2.2 添加 Gyro 讀取代碼

初始化代碼段：

  Gyro *gyro;
  gyro=robot->getGyro("gyro");
  gyro->enable(TIME_STEP);

陀螺儀數據讀取代碼段：（單位是 rad/s）

 std::cout<< "Gyro X: " <<gyro->getValues()[0]
    << " Y: " <<gyro->getValues()[1]<< " Z: " <<gyro->getValues()[2] <<std::endl;    

3 添加加速度計 Accelerometer

3.1 添加 Accelerometer實體

添加陀螺儀 Gyro 實體的步驟與添加 InertialUnit 實體的操作方式一樣，只需要把 step1: 中選中Gyro 實體，後續的操作與 step2 和 step3 一樣。

3.2 添加 Accelerometer 讀取代碼

初始化代碼段：

  Gyro *gyro;
  gyro=robot->getGyro("gyro");
  gyro->enable(TIME_STEP);

加速度數據讀取代碼段：（單位是 m/s^2）

 std::cout<< "Gyro X: " <<gyro->getValues()[0]
    << " Y: " <<gyro->getValues()[1]<< " Z: " <<gyro->getValues()[2] <<std::endl;    

4 添加磁力計 Compass

3.1 添加 Compass 實體

添加陀螺儀 Gyro 實體的步驟與添加 InertialUnit 實體的操作方式一樣，只需要把 step1: 中選中Gyro 實體，後續的操作與 step2 和 step3 一樣。

3.2 添加 Compass 讀取代碼

初始化代碼段：

  Compass *compass;
  compass=robot->getCompass("compass");
  compass->enable(TIME_STEP);

加速度數據讀取代碼段：

 std::cout<< "Compass X: " <<compass->getValues()[0]
    << " Y: " <<compass->getValues()[1]<< " Z: " <<compass->getValues()[2] <<std::endl;    

4. 測試效果

完整的控制器代碼如下：

#include <webots/Robot.hpp>
#include <webots/GPS.hpp>
#include <webots/DistanceSensor.hpp>
#include <webots/Motor.hpp>
#include <webots/Keyboard.hpp>
#include <webots/InertialUnit.hpp>
#include <webots/Gyro.hpp>
#include <webots/Accelerometer.hpp>
#include <webots/Compass.hpp>
#include <stdio.h>

#define TIME_STEP 64
// All the webots classes are defined in the "webots" namespace
using namespace webots;
 
int main(int argc, char **argv) {
  // create the Robot instance.
  Robot *robot = new Robot();
  Keyboard kb;
  kb.enable(TIME_STEP);
  
  DistanceSensor *ds[2];
  char dsNames[2][10] = {"ds_right","ds_left"};
  for (int i = 0; i < 2; i++) {
    ds[i] = robot->getDistanceSensor(dsNames[i]);
    ds[i]->enable(TIME_STEP);
  }

  GPS *gps;
  gps = robot->getGPS("global_gps");
  gps->enable(TIME_STEP);
  
  InertialUnit *imu;
  imu=robot->getInertialUnit("imu");
  imu->enable(TIME_STEP);
  
  Gyro *gyro;
  gyro=robot->getGyro("gyro");
  gyro->enable(TIME_STEP);
  
  Accelerometer *accelerometer;
  accelerometer=robot->getAccelerometer("accelerometer");
  accelerometer->enable(TIME_STEP);
  
  Compass *compass;
  compass=robot->getCompass("compass");
  compass->enable(TIME_STEP);
  // initialise motors
  Motor *wheels[4];
  char wheels_names[4][8] = {"wheel1", "wheel2", "wheel3", "wheel4"};
  for (int i = 0; i < 4; i++) {
    wheels[i] = robot->getMotor(wheels_names[i]);
    wheels[i]->setPosition(INFINITY);
    wheels[i]->setVelocity(0);
  }
  printf("init successd ...\n");
  

  double leftSpeed = 0.0;
  double rightSpeed = 0.0;

   // Main loop:
  // - perform simulation steps until Webots is stopping the controller
 while (robot->step(TIME_STEP) != -1)
 {
    int key = kb.getKey();
    if(key== 315)
    {
      leftSpeed = 3.0;
      rightSpeed = 3.0;
    }
    else if(key== 317)
    {
      leftSpeed = -3.0;
      rightSpeed = -3.0;
    }
    else if(key== 314)
    {
      leftSpeed = -3.0;
      rightSpeed = 3.0;
    }
    else if(key== 316)
    {
      leftSpeed = 3.0;
      rightSpeed = -3.0;
    }
    else  
    {
      leftSpeed = 0.0;
      rightSpeed = 0.0;
    }
    std::cout<< " Right Sensor Value:" <<ds[0]->getValue() << "  Left Sensor Value:" <<ds[1]->getValue() <<std::endl;  
    std::cout<< "GPS Value X: " <<gps->getValues()[0]
    << " Y: " <<gps->getValues()[1]<< " Z: " <<gps->getValues()[2] <<std::endl;    
    
    
    std::cout<< "IMU roll: " <<imu->getRollPitchYaw()[0]<< " pitch: " <<imu->getRollPitchYaw()[1]
    << " yaw: " <<imu->getRollPitchYaw()[2] <<std::endl;    
   
     std::cout<< "Gyro X: " <<gyro->getValues()[0]
    << " Y: " <<gyro->getValues()[1]<< " Z: " <<gyro->getValues()[2] <<std::endl;    
   
    std::cout<< "Accel X: " <<accelerometer->getValues()[0]
    << " Y: " <<accelerometer->getValues()[1]<< " Z: " <<accelerometer->getValues()[2] <<std::endl;    
   
    std::cout<< "Compass X: " <<compass->getValues()[0]
    << " Y: " <<compass->getValues()[1]<< " Z: " <<compass->getValues()[2] <<std::endl;    
   
    
     wheels[0]->setVelocity(leftSpeed);
     wheels[1]->setVelocity(rightSpeed);
     wheels[2]->setVelocity(leftSpeed);
     wheels[3]->setVelocity(rightSpeed);
  };

  // Enter here exit cleanup code.

  delete robot;
  return 0;
}

參考資料

[1] 1https://cyberbotics.com/doc/reference/index?version=R2020a-rev1
[2] https://www.cyberbotics.com/doc/reference/motion

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